Pose Planning for a Mobile Manipulator Based on Joint Motions for Posture Adjustment to End-Effector Error

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Abstract:

This paper proposes a motion planning method for a mobile manipulator. In general, humans can grasp an object by various ways which depend on object posture, position and so on. The objective of this paper is to present how to detect the pose of a mobile manipulator under the condition that several ways of grasping are given to the robot. Motion errors and object position errors are considered to detect robot pose in our method because these affect the grasp motion of the robot hand. Coping with these errors, we will propose an effective pose searching method for a mobile manipulator from numerous pose candidates. The performance of the proposed method is illustrated by simulation and experiment.

Keywords: MANIPULABILITY; MOBILE MANIPULATOR; MOTION PLANNING; POSE ERROR; REACHING

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855308X294662

Affiliations: 1: Graduate School of Systems and Information Engineering, The University of Tokyo, 1-1-1 Hongo, Bunkyo-ku, Tokyo 305-8573, Japan;, Email: yamazaki@jsk.t-utokyo.ac.jp 2: Department of System Robotics, Faculty of Engineering, Toyo University, 2100 Kujirai, Kawagoe, Saitama 350-8585, Japan 3: Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Publication date: April 1, 2008

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